KTH Mechanics 2012 02 18

Rigid Body Dynamics, SG2150

Solutions to Exam, 2012 02 18
Calculational problems
Problem 1: A wedge of mass m can slide on a smooth horizontal plane. A cylinder of
mass M and radius r can roll without slipping on the wedge . The cylinder is released from
rest and starts to roll down the incline on the wedge, which makes an angle α with the
horizontal. Find the acceleration of the wedge.

y M
q
G
r
s

h
m

x a x

Solution 1: 1) Generalized coordinates: x, position of left side of the wedge, s, distance

rolled by cylinder from left side of wedge. Rolling condition for cylinder: s = rθ, where θ
is the angle that the cylinder has turned. Kinetic energy of system:

T = 21 mẋ2 + 12 M v 2G + 21 JG θ̇2 .

Position of cylinder center of mass: xG = x + s cos α + r sin α, yG = h − s sin α + r cos α,

where h is the height of the wedge. The cylinder center of mass velocity is thus given by:

ẋG = ẋ + ṡ cos α, ẏG = −ṡ sin α.

The moment of inertia of the cylinder is JG = 12 M r2 . The kinetic energy becomes

T = 12 mẋ2 + 12 M (ẋ2 + 2ẋṡ cos α + ṡ2 ) + 11 2

2 2 M r (ṡ/r)
2
=

3
+ M )ẋ2 + M cos α ẋṡ + M ṡ2 .
1
2 (m 4
The potential energy is V = M gyG , or equivalently just V = −M g sin α s. The Lagrange
function is, L = T − V . First note that x is cyclic so that ∂L ∂L
∂x = 0 and that therefore ∂ ẋ =
constant. This means that,

(m + M )ẋ + M cos α ṡ = constant.

The Lagrange equation of motion, ddt ∂L

∂ ṡ −
∂L
∂s = 0, becomes,
( )
d 3
M cos α ẋ + M ṡ − M g sin α = 0.
dt 2
Combining the two equations we can eliminate s̈ and get,
( )
3m+M
M cos α − ẍ = M g sin α.
2 cos α
This gives the Answer:

M sin α g sin(2α)
ẍ = =− g.
M cos α − 2 cos α
3 m+M
1 + 2 sin2 α + 3m
M
Problem 2: A rod of length ℓ hangs at the edge of a vertical wheel of radius R (like a
gondola on a ferris wheel). The wheel rotates with a constant given angular velocity ω
about a horizontal axis through the midpoint. Find the Lagrangian and the equation of
motion of the rod. Find the angular frequency of small amplitude motions of the rod in
the two limiting cases Rω 2 ≪ g and Rω 2 ≫ g. In the latter case the motion is of small
amplitude relative the rotating system of the wheel.

q=wt

l
j
x

Solution 2: This is a problem with a time dependent constraint. The kinetic energy of
the rod is, ( )
2 mℓ2
1
T = 2 mv G + 21
φ̇2
12

The position of the center of mass of the rod is r G = Rer (θ) + 2ℓ er (φ). The center of mass
velocity of the rod, ṙ G , is thus given by,
ℓ
v G = Rω eφ (θ) + φ̇ eφ (φ).
2
The potential energy of the rod is,
( )
ℓ
V = −mgxG = mg −R cos(ωt) − cos φ .
2
Skipping a constant term in the kinetic energy, and the term in the potential involving
cos(ωt), since it will not affect the equation of motion for the rod, one finds,

mℓ2 2 ℓ ℓ
L= φ̇ + mRω φ̇ cos(φ − ωt) + mg cos φ,
6 2 2
for the Lagrangian.
The usual calculations ddt ∂L
∂ φ̇ −
∂L
∂φ = 0 will now give,
( )
3 g R
φ̈ = − sin φ + ω 2 sin(φ − ωt) ,
2 ℓ ℓ

which is the equation of motion for the rod. For g ≫ Rω 2 neglect the second term on the
right hand side and find the usual equation of motion √ for a physical pendulum consisting
of a rod. The angular frequency is Answer: ωg = 32 gℓ . For the other case we introduce
the variable u = φ − ωt, and note that then φ̈ = ü. With g ≪ Rω 2 the equation of motion
2
for the u-coordinate is ü = − 32 Rωℓ sin u. For small amplitude one then gets Answer:
√
3 Rω 2
ωω = 2 ℓ .
Problem 3: Calculate the angular eigen frequencies for the two degree of freedom coupled
oscillator problem in the figure below. The spring on the left is attached to a fixed wall at
its left end. The two identical particles of mass m can slide with negligible friction along
the horizontal track. The two springs of stiffness k are also identical.

k m k m

Solution 3: The kinetic energy is given by,

T = 21 m(ẋ21 + ẋ22 )

and the potential energy is,

V = 12 k[x21 + (x2 − x1 )2 ] = 12 k(2x21 + x22 − 2x1 x2 )

where x1 , x2 denote the deviations from the equilibrium positions of the left and right
particles respectively.
From this we can read off the M- and K-matrices:
( ) ( )
1 0 2 −1
M=m , K=k .
0 1 −1 1

Putting ω 2 = x we now find the secular equation,

 
 −my + 2k −k 
 
det(−My + K) =   = 0,
 −k −my + k 

which gives the roots,

√ k √ k
y1,2 = 12 (3 ±
5) = 12 12 ( 5 ± 1)2
m m
We thus find the two angular eigen frequencies (Answer:)
√
√ k
ω1,2 = 1
2( 5 ± 1) .
m
Idea problems:

Problem 4: Twelve identical slender homogeneous rods, each of mass m and length a are
welded together at the endpoints so that they constitute the edges of a regular octahedron.
Find the moment of inertia of this body with respect to an axis through the midpoint.

Solution 4:
2
We use that the moment of inertia for a rod of mass M and length ℓ is Jm = M12ℓ for a
2
perpendicular axis though the midpoint, and Je = M3ℓ for a perpendicular axis though an
endpoint.
Consider the octahedron seen from straight above on corner. There are then four rods
in a horizontal plane at a perpendicular distance a/2 from the vertical
[ 2 axis through the
ma
( a )2 ]
center. These four rods contribute the moment of inertia Jh = 4 12 + m 2 = 43 ma2
√
according to the parallel axis theorem. The remaining
[ eight] rods extend a distance a/ 2
( )2
m √a
from the vertical axis and this contributes Jv = 8 3 2
= 34 ma2 to the total.
Adding these now gives the Answer:
8
J = ma2 .
3
Since the octahedron is symmetric all moments of inertia for axes through the midpoint
are the same.
Problem 5: Find the components of the vector equation L̇ = M for a rigid body using
the body fixed principal axes system of basis vectors, i.e. Euler’s dynamic equations.

Solution 5:
See Section 4.2, pages 64-65, in Essén’s Dynamics of Bodies.

Problem 6: Use the Lagrange formalism to show that any system with a Lagrangian that
does not depend explicitly on time is characterized by a conserved quantity (normally the
energy).
Solution 6:
This is shown in Section 19.1, pages 25-26, in Essén’s The Theory of Lagrange’s Method.

Each problem gives maximum 3 points, so that the total maximum is 18. Grading: 1-3, F;
4-5, FX; 6, E; 7-9, D; 10-12, C; 13-15, B; 16-18; A.
Allowed equipment: Handbooks of mathematics and physics. One A4 size page with your
own compilation of formulas.

HE 2012 02 18